smartdof2.h

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/****************************************************************************
** Copyright (C) 2020 MikroElektronika d.o.o.
** Contact: https://www.mikroe.com/contact
**
** Permission is hereby granted, free of charge, to any person obtaining a copy
** of this software and associated documentation files (the "Software"), to deal
** in the Software without restriction, including without limitation the rights
** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
** copies of the Software, and to permit persons to whom the Software is
** furnished to do so, subject to the following conditions:
** The above copyright notice and this permission notice shall be
** included in all copies or substantial portions of the Software.
**
** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
** EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
** OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
** IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
** DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT
** OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE
**  USE OR OTHER DEALINGS IN THE SOFTWARE.
****************************************************************************/
 
#ifndef SMARTDOF2_H
#define SMARTDOF2_H
 
#ifdef __cplusplus
extern "C"{
#endif
 
#ifdef PREINIT_SUPPORTED
#include "preinit.h"
#endif
 
#ifdef MikroCCoreVersion
    #if MikroCCoreVersion >= 1
        #include "delays.h"
    #endif
#endif
 
#include "drv_digital_out.h"
#include "drv_digital_in.h"
#include "drv_i2c_master.h"
#include "drv_spi_master.h"
#include "spi_specifics.h"
 
#define SMARTDOF2_REG_FUNC_CFG_ACCESS             0x01
#define SMARTDOF2_REG_PIN_CTRL                    0x02
#define SMARTDOF2_REG_IF_CFG                      0x03
#define SMARTDOF2_REG_S4S_TPH_L                   0x04
#define SMARTDOF2_REG_S4S_TPH_H                   0x05
#define SMARTDOF2_REG_S4S_RR                      0x06
#define SMARTDOF2_REG_FIFO_CTRL1                  0x07
#define SMARTDOF2_REG_FIFO_CTRL2                  0x08
#define SMARTDOF2_REG_FIFO_CTRL3                  0x09
#define SMARTDOF2_REG_FIFO_CTRL4                  0x0A
#define SMARTDOF2_REG_COUNTER_BDR_REG1            0x0B
#define SMARTDOF2_REG_COUNTER_BDR_REG2            0x0C
#define SMARTDOF2_REG_INT1_CTRL                   0x0D
#define SMARTDOF2_REG_INT2_CTRL                   0x0E
#define SMARTDOF2_REG_WHO_AM_I                    0x0F
#define SMARTDOF2_REG_CTRL1                       0x10
#define SMARTDOF2_REG_CTRL2                       0x11
#define SMARTDOF2_REG_CTRL3                       0x12
#define SMARTDOF2_REG_CTRL4                       0x13
#define SMARTDOF2_REG_CTRL5                       0x14
#define SMARTDOF2_REG_CTRL6                       0x15
#define SMARTDOF2_REG_CTRL7                       0x16
#define SMARTDOF2_REG_CTRL8                       0x17
#define SMARTDOF2_REG_CTRL9                       0x18
#define SMARTDOF2_REG_CTRL10                      0x19
#define SMARTDOF2_REG_CTRL_STATUS                 0x1A
#define SMARTDOF2_REG_FIFO_STATUS1                0x1B
#define SMARTDOF2_REG_FIFO_STATUS2                0x1C
#define SMARTDOF2_REG_ALL_INT_SRC                 0x1D
#define SMARTDOF2_REG_STATUS_REG                  0x1E
#define SMARTDOF2_REG_OUT_TEMP_L                  0x20
#define SMARTDOF2_REG_OUT_TEMP_H                  0x21
#define SMARTDOF2_REG_OUTX_L_G                    0x22
#define SMARTDOF2_REG_OUTX_H_G                    0x23
#define SMARTDOF2_REG_OUTY_L_G                    0x24
#define SMARTDOF2_REG_OUTY_H_G                    0x25
#define SMARTDOF2_REG_OUTZ_L_G                    0x26
#define SMARTDOF2_REG_OUTZ_H_G                    0x27
#define SMARTDOF2_REG_OUTX_L_A                    0x28
#define SMARTDOF2_REG_OUTX_H_A                    0x29
#define SMARTDOF2_REG_OUTY_L_A                    0x2A
#define SMARTDOF2_REG_OUTY_H_A                    0x2B
#define SMARTDOF2_REG_OUTZ_L_A                    0x2C
#define SMARTDOF2_REG_OUTZ_H_A                    0x2D
#define SMARTDOF2_REG_UI_OUTX_L_G_OIS_EIS         0x2E
#define SMARTDOF2_REG_UI_OUTX_H_G_OIS_EIS         0x2F
#define SMARTDOF2_REG_UI_OUTY_L_G_OIS_EIS         0x30
#define SMARTDOF2_REG_UI_OUTY_H_G_OIS_EIS         0x31
#define SMARTDOF2_REG_UI_OUTZ_L_G_OIS_EIS         0x32
#define SMARTDOF2_REG_UI_OUTZ_H_G_OIS_EIS         0x33
#define SMARTDOF2_REG_UI_OUTX_L_A_OIS_DUALC       0x34
#define SMARTDOF2_REG_UI_OUTX_H_A_OIS_DUALC       0x35
#define SMARTDOF2_REG_UI_OUTY_L_A_OIS_DUALC       0x36
#define SMARTDOF2_REG_UI_OUTY_H_A_OIS_DUALC       0x37
#define SMARTDOF2_REG_UI_OUTZ_L_A_OIS_DUALC       0x38
#define SMARTDOF2_REG_UI_OUTZ_H_A_OIS_DUALC       0x39
#define SMARTDOF2_REG_AH_QVAR_OUT_L               0x3A
#define SMARTDOF2_REG_AH_QVAR_OUT_H               0x3B
#define SMARTDOF2_REG_TIMESTAMP0                  0x40
#define SMARTDOF2_REG_TIMESTAMP1                  0x41
#define SMARTDOF2_REG_TIMESTAMP2                  0x42
#define SMARTDOF2_REG_TIMESTAMP3                  0x43
#define SMARTDOF2_REG_UI_STATUS_REG_OIS           0x44
#define SMARTDOF2_REG_WAKE_UP_SRC                 0x45
#define SMARTDOF2_REG_TAP_SRC                     0x46
#define SMARTDOF2_REG_D6D_SRC                     0x47
#define SMARTDOF2_REG_STATUS_MASTER_MAINPAGE      0x48
#define SMARTDOF2_REG_EMB_FUNC_STATUS_MAINPAGE    0x49
#define SMARTDOF2_REG_FSM_STATUS_MAINPAGE         0x4A
#define SMARTDOF2_REG_MLC_STATUS_MAINPAGE         0x4B
#define SMARTDOF2_REG_INTERNAL_FREQ               0x4F
#define SMARTDOF2_REG_FUNCTIONS_ENABLE            0x50
#define SMARTDOF2_REG_DEN                         0x51
#define SMARTDOF2_REG_INACTIVITY_DUR              0x54
#define SMARTDOF2_REG_INACTIVITY_THS              0x55
#define SMARTDOF2_REG_TAP_CFG0                    0x56
#define SMARTDOF2_REG_TAP_CFG1                    0x57
#define SMARTDOF2_REG_TAP_CFG2                    0x58
#define SMARTDOF2_REG_TAP_THS_6D                  0x59
#define SMARTDOF2_REG_INT_DUR2                    0x5A
#define SMARTDOF2_REG_WAKE_UP_THS                 0x5B
#define SMARTDOF2_REG_WAKE_UP_DUR                 0x5C
#define SMARTDOF2_REG_FREE_FALL                   0x5D
#define SMARTDOF2_REG_MD1_CFG                     0x5E
#define SMARTDOF2_REG_MD2_CFG                     0x5F
#define SMARTDOF2_REG_S4S_ST_CMD_CODE             0x60
#define SMARTDOF2_REG_S4S_DT_REG                  0x61
#define SMARTDOF2_REG_EMB_FUNC_CFG                0x63
#define SMARTDOF2_REG_UI_HANDSHAKE_CTRL           0x64
#define SMARTDOF2_REG_UI_SPI2_SHARED_0            0x65
#define SMARTDOF2_REG_UI_SPI2_SHARED_1            0x66
#define SMARTDOF2_REG_UI_SPI2_SHARED_2            0x67
#define SMARTDOF2_REG_UI_SPI2_SHARED_3            0x68
#define SMARTDOF2_REG_UI_SPI2_SHARED_4            0x69
#define SMARTDOF2_REG_UI_SPI2_SHARED_5            0x6A
#define SMARTDOF2_REG_CTRL_EIS                    0x6B
#define SMARTDOF2_REG_UI_INT_OIS                  0x6F
#define SMARTDOF2_REG_UI_CTRL1_OIS                0x70
#define SMARTDOF2_REG_UI_CTRL2_OIS                0x71
#define SMARTDOF2_REG_UI_CTRL3_OIS                0x72
#define SMARTDOF2_REG_X_OFS_USR                   0x73
#define SMARTDOF2_REG_Y_OFS_USR                   0x74
#define SMARTDOF2_REG_Z_OFS_USR                   0x75
#define SMARTDOF2_REG_FIFO_DATA_OUT_TAG           0x78
#define SMARTDOF2_REG_FIFO_DATA_OUT_X_L           0x79
#define SMARTDOF2_REG_FIFO_DATA_OUT_X_H           0x7A
#define SMARTDOF2_REG_FIFO_DATA_OUT_Y_L           0x7B
#define SMARTDOF2_REG_FIFO_DATA_OUT_Y_H           0x7C
#define SMARTDOF2_REG_FIFO_DATA_OUT_Z_L           0x7D
#define SMARTDOF2_REG_FIFO_DATA_OUT_Z_H           0x7E
 
 
 // smartdof2_reg
 
#define SMARTDOF2_DEVICE_ID                       0x70
 
#define SMARTDOF2_IF_INC_DISABLE                  0x00
#define SMARTDOF2_IF_INC_ENABLE                   0x04
#define SMARTDOF2_IF_INC_BIT_MASK                 0xFB
#define SMARTDOF2_BDU_DISABLE                     0x00
#define SMARTDOF2_BDU_ENABLE                      0x40
#define SMARTDOF2_BDU_BIT_MASK                    0xBF
 
#define SMARTDOF2_FIFO_MODE_BYPASS                0x00
#define SMARTDOF2_FIFO_MODE_FIFO                  0x01
#define SMARTDOF2_FIFO_MODE_STREAM_WTM_TO_FULL    0x02
#define SMARTDOF2_FIFO_MODE_STREAM_TO_FIFO        0x03
#define SMARTDOF2_FIFO_MODE_BYPASS_TO_STREAM      0x04
#define SMARTDOF2_FIFO_MODE_STREAM                0x06
#define SMARTDOF2_FIFO_MODE_BYPASS_TO_FIFO        0x07
#define SMARTDOF2_FIFO_MODE_BIT_MASK              0xF8
 
#define SMARTDOF2_ODR_OFF                         0x00
#define SMARTDOF2_ODR_AT_1Hz875                   0x01
#define SMARTDOF2_ODR_AT_7Hz5                     0x02
#define SMARTDOF2_ODR_AT_15Hz                     0x03
#define SMARTDOF2_ODR_AT_30Hz                     0x04
#define SMARTDOF2_ODR_AT_60Hz                     0x05
#define SMARTDOF2_ODR_AT_120Hz                    0x06
#define SMARTDOF2_ODR_AT_240Hz                    0x07
#define SMARTDOF2_ODR_AT_480Hz                    0x08
#define SMARTDOF2_ODR_AT_960Hz                    0x09
#define SMARTDOF2_ODR_AT_1920Hz                   0x0A
#define SMARTDOF2_ODR_AT_3840Hz                   0x0B
#define SMARTDOF2_ODR_AT_7680Hz                   0x0C
#define SMARTDOF2_ODR_BIT_MASK                    0xF0
 
#define SMARTDOF2_XL_FULL_SCALE_2g                0x00
#define SMARTDOF2_XL_FULL_SCALE_4g                0x01
#define SMARTDOF2_XL_FULL_SCALE_8g                0x02
#define SMARTDOF2_XL_FULL_SCALE_16g               0x03
#define SMARTDOF2_XL_FULL_SCALE_BIT_MASK          0xF8
 
#define SMARTDOF2_GY_FULL_SCALE_125dps            0x00
#define SMARTDOF2_GY_FULL_SCALE_250dps            0x01
#define SMARTDOF2_GY_FULL_SCALE_500dps            0x02
#define SMARTDOF2_GY_FULL_SCALE_1000dps           0x03
#define SMARTDOF2_GY_FULL_SCALE_2000dps           0x04
#define SMARTDOF2_GY_FULL_SCALE_4000dps           0x0C
#define SMARTDOF2_GY_FULL_SCALE_BIT_MASK          0xF0
 
#define SMARTDOF2_ACC_SENSITIVITY_FS_2g            0.061
#define SMARTDOF2_ACC_SENSITIVITY_FS_4g            0.122
#define SMARTDOF2_ACC_SENSITIVITY_FS_8g            0.244
#define SMARTDOF2_ACC_SENSITIVITY_FS_16g           0.488
 
#define SMARTDOF2_GYRO_SENSITIVITY_FS_125dps       4.375
#define SMARTDOF2_GYRO_SENSITIVITY_FS_250dps       8.750
#define SMARTDOF2_GYRO_SENSITIVITY_FS_500dps      17.500
#define SMARTDOF2_GYRO_SENSITIVITY_FS_1000dps     35.000
#define SMARTDOF2_GYRO_SENSITIVITY_FS_2000dps     70.000
#define SMARTDOF2_GYRO_SENSITIVITY_FS_4000dps    140.000
 
#define SMARTDOF2_DEVICE_ADDRESS_GND              0x6A
#define SMARTDOF2_DEVICE_ADDRESS_VCC              0x6B
 
#define SMARTDOF2_SET_DATA_SAMPLE_EDGE      SET_SPI_DATA_SAMPLE_EDGE
#define SMARTDOF2_SET_DATA_SAMPLE_MIDDLE    SET_SPI_DATA_SAMPLE_MIDDLE
 
 // smartdof2_set
 
#define SMARTDOF2_MAP_MIKROBUS( cfg, mikrobus )     \
    cfg.scl  = MIKROBUS( mikrobus, MIKROBUS_SCL );  \
    cfg.sda  = MIKROBUS( mikrobus, MIKROBUS_SDA );  \
    cfg.miso = MIKROBUS( mikrobus, MIKROBUS_MISO ); \
    cfg.mosi = MIKROBUS( mikrobus, MIKROBUS_MOSI ); \
    cfg.sck  = MIKROBUS( mikrobus, MIKROBUS_SCK );  \
    cfg.cs   = MIKROBUS( mikrobus, MIKROBUS_CS );   \
    cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
 
 // smartdof2_map
 // smartdof2
 
typedef enum
{
    SMARTDOF2_DRV_SEL_SPI,      
    SMARTDOF2_DRV_SEL_I2C       
} smartdof2_drv_t;
 
typedef err_t ( *smartdof2_master_io_t )( struct smartdof2_s*, uint8_t, uint8_t*, uint8_t ); 
typedef struct smartdof2_s
{
    digital_in_t int_pin;   
    i2c_master_t i2c;       
    spi_master_t spi;       
    uint8_t      slave_address;    
    pin_name_t   chip_select;      
    smartdof2_drv_t drv_sel;       
    smartdof2_master_io_t write_f;    
    smartdof2_master_io_t read_f;     
} smartdof2_t;
 
typedef struct
{
    pin_name_t scl;        
    pin_name_t sda;        
    pin_name_t miso;       
    pin_name_t mosi;       
    pin_name_t sck;        
    pin_name_t cs;         
    pin_name_t int_pin;    
    uint32_t   i2c_speed;      
    uint8_t    i2c_address;    
    uint32_t                          spi_speed;      
    spi_master_mode_t                 spi_mode;       
    spi_master_chip_select_polarity_t cs_polarity;    
    smartdof2_drv_t drv_sel;    
} smartdof2_cfg_t;
 
typedef struct 
{
    int16_t x;
    int16_t y;
    int16_t z;
 
} smartdof2_axis_data_t;
 
typedef struct 
{
    float x;
    float y;
    float z;
 
} smartdof2_axis_t;
 
typedef enum
{
    SMARTDOF2_OK = 0,
    SMARTDOF2_ERROR = -1
 
} smartdof2_return_value_t;
 
void smartdof2_cfg_setup ( smartdof2_cfg_t *cfg );
 
void smartdof2_drv_interface_selection ( smartdof2_cfg_t *cfg, smartdof2_drv_t drv_sel );
 
err_t smartdof2_init ( smartdof2_t *ctx, smartdof2_cfg_t *cfg );
 
err_t smartdof2_default_cfg ( smartdof2_t *ctx );
 
err_t smartdof2_generic_write ( smartdof2_t *ctx, uint8_t reg, uint8_t *data_in, uint8_t len );
 
err_t smartdof2_generic_read ( smartdof2_t *ctx, uint8_t reg, uint8_t *data_out, uint8_t len );
 
err_t smartdof2_get_device_id ( smartdof2_t *ctx, uint8_t *device_id );
 
err_t smartdof2_enable_auto_increment ( smartdof2_t *ctx );
 
err_t smartdof2_enable_block_data_update ( smartdof2_t *ctx );
 
err_t smartdof2_set_fifo_mode ( smartdof2_t *ctx, uint8_t fifo_mode );
 
err_t smartdof2_set_acc_data_rate ( smartdof2_t *ctx, uint8_t data_rate );
 
err_t smartdof2_get_acc_full_scale ( smartdof2_t *ctx, uint8_t *data_scale );
 
err_t smartdof2_set_acc_full_scale ( smartdof2_t *ctx, uint8_t data_scale );
 
err_t smartdof2_set_gyro_data_rate ( smartdof2_t *ctx, uint8_t data_rate );
 
err_t smartdof2_get_gyro_full_scale ( smartdof2_t *ctx, uint8_t *data_scale );
 
err_t smartdof2_set_gyro_full_scale ( smartdof2_t *ctx, uint8_t data_scale );
 
err_t smartdof2_get_acc_axis_data ( smartdof2_t *ctx, smartdof2_axis_data_t *acc_axis );
 
err_t smartdof2_get_gyro_axis_data ( smartdof2_t *ctx, smartdof2_axis_data_t *gyro_axis );
 
err_t smartdof2_get_acc_sensitivity ( smartdof2_t *ctx, float *sensitivity );
 
err_t smartdof2_get_gyro_sensitivity ( smartdof2_t *ctx, float *sensitivity );
 
err_t smartdof2_get_acc_axis ( smartdof2_t *ctx, smartdof2_axis_t *acc_axis );
 
err_t smartdof2_get_gyro_axis ( smartdof2_t *ctx, smartdof2_axis_t *gyro_axis );
 
err_t smartdof2_get_temperature_raw ( smartdof2_t *ctx, int16_t *temp_raw );
 
err_t smartdof2_get_temperature ( smartdof2_t *ctx, float *temperature );
 
uint8_t smartdof2_get_int_pin ( smartdof2_t *ctx );
 
#ifdef __cplusplus
}
#endif
#endif // SMARTDOF2_H
 
 // smartdof2
 
// ------------------------------------------------------------------------ END